In order to solve the problems of nonlinear unknown term and external environmental disturbances of the under-actuated ship motion system, an indirect control method based on adaptive global fast terminal sliding mode control (GFTSMC) algorithm is devised for path following of under-actuated ships. The path following controller consists of course guidance law and heading controller. An iterative sliding mode scheme based on nonlinear hyperbolic tangent function is introduced to design the course guidance law in order to restrict the maximum yaw rate. Then the ship's heading is controlled by heading controller, the GFTSMC algorithm is introduced to nonlinear state error feedback (NLSEF) in order to reduce the chattering. The nonlinear unknown term is estimated by radial basis function (RBF) neural network to improve the robustness and the adaptive ability of the controller. The simulation results show that the ship can follow the desired path precisely under the external environmental disturbances such as wave, wind and current, proving the effectiveness of the designed algorithm.
Path following of under-actuated ships based on adaptive global fast terminal sliding mode control
Third International Conference on Mechanical, Electronics, and Electrical and Automation Control (METMS 2023) ; 2023 ; Hangzhou, China
Proc. SPIE ; 12722
2023-07-18
Conference paper
Electronic Resource
English
A Global Fast Integral Operator Terminal Adaptive Sliding-Mode Controller
Trans Tech Publications | 2012
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